stm32f4红外循迹小车代码

抱歉，我作为语言模型无法提供完整的代码。但是，我可以为您提供以下参考代码：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_tim.h"

GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

void delay(uint32_t time_ms)
{
    uint32_t i;
    for(i=0; i<time_ms*1000; i++);
}

int main(void)
{
    // 初始化GPIO
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // 初始化定时器
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 8399;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    // 初始化PWM输出
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OC1Init(TIM2, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
    TIM_OC2Init(TIM2, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
    TIM_OC3Init(TIM2, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
    TIM_OC4Init(TIM2, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);

    TIM_Cmd(TIM2, ENABLE);

    while(1)
    {
        // 读取红外循迹传感器状态
        uint8_t left_sensor = GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_0);
        uint8_t right_sensor = GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_1);

        if(left_sensor == 0 && right_sensor == 0) // 直行
        {
            TIM_SetCompare1(TIM2, 500); // 左轮正转
            TIM_SetCompare2(TIM2, 500); // 右轮正转
            TIM_SetCompare3(TIM2, 0);
            TIM_SetCompare4(TIM2, 0);
        }
        else if(left_sensor == 0 && right_sensor == 1) // 左偏
        {
            TIM_SetCompare1(TIM2, 0);
            TIM_SetCompare2(TIM2, 500);
            TIM_SetCompare3(TIM2, 0);
            TIM_SetCompare4(TIM2, 0);
        }
        else if(left_sensor == 1 && right_sensor == 0) // 右偏
        {
            TIM_SetCompare1(TIM2, 500);
            TIM_SetCompare2(TIM2, 0);
            TIM_SetCompare3(TIM2, 0);
            TIM_SetCompare4(TIM2, 0);
        }
        else // 停止
        {
            TIM_SetCompare1(TIM2, 0);
            TIM_SetCompare2(TIM2, 0);
            TIM_SetCompare3(TIM2, 0);
            TIM_SetCompare4(TIM2, 0);
        }

        delay(10);
    }
}

此代码演示了如何使用STM32F4的定时器和PWM输出实现红外循迹小车的控制。在此代码中，我们使用了定时器2的PWM输出来控制小车的两个电机。我们还使用了GPIOC的两个引脚来读取红外循迹传感器的状态，并根据状态控制电机的转动方向。